Mitsubishi MELSEC-F, Training Manual

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Positioning Control
A-2
A-1-1: Motor effective torque
When the motor effective torque obtained by the calculation below does not exceed the rated
torque (100%) of the servo motor specifications, it is suitable.
If the obtained effective torque exceeds 100%, increase the motor capacity and perform the
calculation again.
In the effective torque calculation equation, the torque during acceleration, constant speed,
deceleration, the cycle time and the machine load are as follows.
1) The torque during acceleration is the torque required to reach the constant speed after
startup and acceleration.
(Torque during acceleration)
2
×
Acceleration time +
(Torque during constant speed)
2
×
Constant speed time
×
(Torque during deceleration)
2
×
Deceleration time
Cycle time (including rest time)
Effective torque
(Trms)
=
Torque during acceleration = Torque to accelerate load inertia moment + Load torque
(T
L
) (T
a
) (T
M
a)